<!DOCTYPE html><html><head>

    <!-- responsive -->
    <meta charset="utf-8" />
    <meta name="viewport" content="width=device-width,initial-scale=1,maximum-scale=1,user-scalable=no">
    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
    <meta name="HandheldFriendly" content="true">

<meta charset="utf-8"><style>body {
  width: 45em;
  border: 1px solid #ddd;
  outline: 1300px solid #fff;
  margin: 16px auto;
}

body .markdown-body
{
  padding: 30px;
}

@font-face {
  font-family: fontawesome-mini;
  src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
}

@font-face {
  font-family: octicons-anchor;
  src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
}

.markdown-body {
  font-family: sans-serif;
  -ms-text-size-adjust: 100%;
  -webkit-text-size-adjust: 100%;
  color: #333333;
  overflow: hidden;
  font-family: "Helvetica Neue", Helvetica, "Segoe UI", Arial, freesans, sans-serif;
  font-size: 16px;
  line-height: 1.6;
  word-wrap: break-word;
}

.markdown-body a {
  background: transparent;
}

.markdown-body a:active,
.markdown-body a:hover {
  outline: 0;
}

.markdown-body b,
.markdown-body strong {
  font-weight: bold;
}

.markdown-body mark {
  background: #ff0;
  color: #000;
  font-style: italic;
  font-weight: bold;
}

.markdown-body sub,
.markdown-body sup {
  font-size: 75%;
  line-height: 0;
  position: relative;
  vertical-align: baseline;
}
.markdown-body sup {
  top: -0.5em;
}
.markdown-body sub {
  bottom: -0.25em;
}

.markdown-body h1 {
  font-size: 2em;
  margin: 0.67em 0;
}

.markdown-body img {
  border: 0;
}

.markdown-body hr {
  -moz-box-sizing: content-box;
  box-sizing: content-box;
  height: 0;
}

.markdown-body pre {
  overflow: auto;
}

.markdown-body code,
.markdown-body kbd,
.markdown-body pre,
.markdown-body samp {
  font-family: monospace, monospace;
  font-size: 1em;
}

.markdown-body input {
  color: inherit;
  font: inherit;
  margin: 0;
}

.markdown-body html input[disabled] {
  cursor: default;
}

.markdown-body input {
  line-height: normal;
}

.markdown-body input[type="checkbox"] {
  box-sizing: border-box;
  padding: 0;
}

.markdown-body table {
  border-collapse: collapse;
  border-spacing: 0;
}

.markdown-body td,
.markdown-body th {
  padding: 0;
}

.markdown-body .codehilitetable {
  border: 0;
  border-spacing: 0;
}

.markdown-body .codehilitetable tr {
  border: 0;
}

.markdown-body .codehilitetable pre,
.markdown-body .codehilitetable div.codehilite {
  margin: 0;
}

.markdown-body .linenos,
.markdown-body .code,
.markdown-body .codehilitetable td {
  border: 0;
  padding: 0;
}

.markdown-body td:not(.linenos) .linenodiv {
  padding: 0 !important;
}

.markdown-body .code {
  width: 100%;
}

.markdown-body .linenos div pre,
.markdown-body .linenodiv pre,
.markdown-body .linenodiv {
  border: 0;
  -webkit-border-radius: 0;
  -moz-border-radius: 0;
  border-radius: 0;
  -webkit-border-top-left-radius: 3px;
  -webkit-border-bottom-left-radius: 3px;
  -moz-border-radius-topleft: 3px;
  -moz-border-radius-bottomleft: 3px;
  border-top-left-radius: 3px;
  border-bottom-left-radius: 3px;
}

.markdown-body .code div pre,
.markdown-body .code div {
  border: 0;
  -webkit-border-radius: 0;
  -moz-border-radius: 0;
  border-radius: 0;
  -webkit-border-top-right-radius: 3px;
  -webkit-border-bottom-right-radius: 3px;
  -moz-border-radius-topright: 3px;
  -moz-border-radius-bottomright: 3px;
  border-top-right-radius: 3px;
  border-bottom-right-radius: 3px;
}

.markdown-body * {
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}

.markdown-body input {
  font: 13px Helvetica, arial, freesans, clean, sans-serif, "Segoe UI Emoji", "Segoe UI Symbol";
  line-height: 1.4;
}

.markdown-body a {
  color: #4183c4;
  text-decoration: none;
}

.markdown-body a:hover,
.markdown-body a:focus,
.markdown-body a:active {
  text-decoration: underline;
}

.markdown-body hr {
  height: 0;
  margin: 15px 0;
  overflow: hidden;
  background: transparent;
  border: 0;
  border-bottom: 1px solid #ddd;
}

.markdown-body hr:before,
.markdown-body hr:after {
  display: table;
  content: " ";
}

.markdown-body hr:after {
  clear: both;
}

.markdown-body h1,
.markdown-body h2,
.markdown-body h3,
.markdown-body h4,
.markdown-body h5,
.markdown-body h6 {
  margin-top: 15px;
  margin-bottom: 15px;
  line-height: 1.1;
}

.markdown-body h1 {
  font-size: 30px;
}

.markdown-body h2 {
  font-size: 21px;
}

.markdown-body h3 {
  font-size: 16px;
}

.markdown-body h4 {
  font-size: 14px;
}

.markdown-body h5 {
  font-size: 12px;
}

.markdown-body h6 {
  font-size: 11px;
}

.markdown-body blockquote {
  margin: 0;
}

.markdown-body ul,
.markdown-body ol {
  padding: 0;
  margin-top: 0;
  margin-bottom: 0;
}

.markdown-body ol ol,
.markdown-body ul ol {
  list-style-type: lower-roman;
}

.markdown-body ul ul ol,
.markdown-body ul ol ol,
.markdown-body ol ul ol,
.markdown-body ol ol ol {
  list-style-type: lower-alpha;
}

.markdown-body dd {
  margin-left: 0;
}

.markdown-body code,
.markdown-body pre,
.markdown-body samp {
  font-family: Consolas, "Liberation Mono", Menlo, Courier, monospace;
  font-size: 12px;
}

.markdown-body pre {
  margin-top: 0;
  margin-bottom: 0;
}

.markdown-body kbd {
  background-color: #e7e7e7;
  background-image: -moz-linear-gradient(#fefefe, #e7e7e7);
  background-image: -webkit-linear-gradient(#fefefe, #e7e7e7);
  background-image: linear-gradient(#fefefe, #e7e7e7);
  background-repeat: repeat-x;
  border-radius: 2px;
  border: 1px solid #cfcfcf;
  color: #000;
  padding: 3px 5px;
  line-height: 10px;
  font: 11px Consolas, "Liberation Mono", Menlo, Courier, monospace;
  display: inline-block;
}

.markdown-body>*:first-child {
  margin-top: 0 !important;
}

.markdown-body>*:last-child {
  margin-bottom: 0 !important;
}

.markdown-body .headeranchor-link {
  position: absolute;
  top: 0;
  bottom: 0;
  left: 0;
  display: block;
  padding-right: 6px;
  padding-left: 30px;
  margin-left: -30px;
}

.markdown-body .headeranchor-link:focus {
  outline: none;
}

.markdown-body h1,
.markdown-body h2,
.markdown-body h3,
.markdown-body h4,
.markdown-body h5,
.markdown-body h6 {
  position: relative;
  margin-top: 1em;
  margin-bottom: 16px;
  font-weight: bold;
  line-height: 1.4;
}

.markdown-body h1 .headeranchor,
.markdown-body h2 .headeranchor,
.markdown-body h3 .headeranchor,
.markdown-body h4 .headeranchor,
.markdown-body h5 .headeranchor,
.markdown-body h6 .headeranchor {
  display: none;
  color: #000;
  vertical-align: middle;
}

.markdown-body h1:hover .headeranchor-link,
.markdown-body h2:hover .headeranchor-link,
.markdown-body h3:hover .headeranchor-link,
.markdown-body h4:hover .headeranchor-link,
.markdown-body h5:hover .headeranchor-link,
.markdown-body h6:hover .headeranchor-link {
  height: 1em;
  padding-left: 8px;
  margin-left: -30px;
  line-height: 1;
  text-decoration: none;
}

.markdown-body h1:hover .headeranchor-link .headeranchor,
.markdown-body h2:hover .headeranchor-link .headeranchor,
.markdown-body h3:hover .headeranchor-link .headeranchor,
.markdown-body h4:hover .headeranchor-link .headeranchor,
.markdown-body h5:hover .headeranchor-link .headeranchor,
.markdown-body h6:hover .headeranchor-link .headeranchor {
  display: inline-block;
}

.markdown-body h1 {
  padding-bottom: 0.3em;
  font-size: 2.25em;
  line-height: 1.2;
  border-bottom: 1px solid #eee;
}

.markdown-body h2 {
  padding-bottom: 0.3em;
  font-size: 1.75em;
  line-height: 1.225;
  border-bottom: 1px solid #eee;
}

.markdown-body h3 {
  font-size: 1.5em;
  line-height: 1.43;
}

.markdown-body h4 {
  font-size: 1.25em;
}

.markdown-body h5 {
  font-size: 1em;
}

.markdown-body h6 {
  font-size: 1em;
  color: #777;
}

.markdown-body p,
.markdown-body blockquote,
.markdown-body ul,
.markdown-body ol,
.markdown-body dl,
.markdown-body table,
.markdown-body pre,
.markdown-body .admonition {
  margin-top: 0;
  margin-bottom: 16px;
}

.markdown-body hr {
  height: 4px;
  padding: 0;
  margin: 16px 0;
  background-color: #e7e7e7;
  border: 0 none;
}

.markdown-body ul,
.markdown-body ol {
  padding-left: 2em;
}

.markdown-body ul ul,
.markdown-body ul ol,
.markdown-body ol ol,
.markdown-body ol ul {
  margin-top: 0;
  margin-bottom: 0;
}

.markdown-body li>p {
  margin-top: 16px;
}

.markdown-body dl {
  padding: 0;
}

.markdown-body dl dt {
  padding: 0;
  margin-top: 16px;
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</style><title>setup_linux_driver_enviroment</title></head><body><article class="markdown-body"><h1 id="linux-tiny-4412"><a name="user-content-linux-tiny-4412" href="#linux-tiny-4412" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>Linux 驱动开发环境搭建（Tiny  4412）</h1>
<div class="toc">
<ul>
<li><a href="#linux-tiny-4412">Linux 驱动开发环境搭建（Tiny  4412）</a><ul>
<li><a href="#_1">编译内核</a></li>
<li><a href="#_2">编译驱动</a></li>
<li><a href="#adb">ADB 使用</a></li>
<li><a href="#log">log 信息过滤</a><ul>
<li><a href="#colout">colout</a></li>
<li><a href="#grep">grep</a></li>
<li><a href="#awk">awk</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</div>
<h2 id="_1"><a name="user-content-_1" href="#_1" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>编译内核</h2>
<p>先去<a href="http://www.arm9home.net/">友善之臂</a>下载开发板对应的光盘资源，如<a href="http://www.arm9home.net/read.php?tid-80883.html">FriendlyARM-4412-DVD-20150716</a>。</p>
<p>解压之后的目录如下：<br />
<pre><code>.
├── Disk-A
│   ├── Android
│   ├── Datasheet
│   ├── Linux                                   # Linux内核源代码所在目录
│   ├── SamsungAP
│   ├── Schematic-PCB
│   ├── Tiny4412 Android硬件开发指南.pdf
│   ├── Tiny4412 Linux&amp;Android内核驱动位置.pdf
│   ├── Tiny4412用户手册.pdf                     # 常用操作指南
│   ├── tools
│   ├── uboot
│   ├── UbuntuCore
│   ├── UbuntuDesktop
│   └── 友善之臂Ubuntu使用手册.pdf
└── Disk-B
    └── images                                  # 刷机文件夹
        ├── Android
        ├── Android4.1.2
        ├── Android4.2.2                        # 本文所用的版本
        ├── Firmware
        ├── FriendlyARM.ini                     # 配置文件
        ├── Linux
        ├── Superboot4412.bin
        └── UbuntuCore
</code></pre></p>
<p>根据 Android 版本来选择对应的 Linux 内核，如 Android 4.2.2 需要用 Linux 3.5 版本的内核。</p>
<p>进入 <code>linux-3.5-20150121.tgz</code> 所在的目录 <code>/Disk-A/Linux/</code></p>
<p>1.解压并进入如内核文件夹,waiting for a while&hellip;<br />
<pre><code>➜  Linux  tar zxvf linux-3.5-20150121.tgz
➜  Linux  cd linux-3.5
</code></pre></p>
<p>2.复制一份配置文件并自定义配置<br />
<pre><code># 因为要用 Android 开发环境
➜  linux-3.5  cp tiny4412_android_defconfig .config
# 启动自定义配置界面，当然也可以直接修改.config
➜  linux-3.5  make menuconfig
</code></pre></p>
<p>启动如下的配置界面，以选择启动一个SPI为例<br />
<img alt="" src="http://mint-blog.qiniudn.com/ld-env-menuconfig.png" /></p>
<p>“Device Dirver”<br />
<img alt="" src="http://mint-blog.qiniudn.com/ld-env-devicedrivers.png" /></p>
<p>&ldquo;SPI support&rdquo;<br />
<img alt="" src="http://mint-blog.qiniudn.com/ld-env-spisupport.png" /></p>
<p>按<code>Y</code>选择SPI 0，&rdquo;Samsung S3C66XX Channel 0 Support&rdquo;<br />
<img alt="" src="http://mint-blog.qiniudn.com/ld-env-samsungs3c64xxchannel0support.png" /></p>
<p>不停的安<code>ESC</code>直到退出，&rdquo;exit &amp; save&rdquo;<br />
<img alt="" src="http://mint-blog.qiniudn.com/ld-env-save.png" /></p>
<p>其它IIC的也是如此。</p>
<p>注：确保内核文件在 Linux 自己的盘上，不要在 Windows 下面挂在的盘符，否则会出现如下错误：（不小心暴露了双系统，不然也不会碰到这个问题，，，）<br />
<pre><code>  HOSTCC  scripts/basic/fixdep
/bin/sh: 1: scripts/basic/fixdep: Permission denied
make[1]: *** [scripts/basic/fixdep] Error 126
make: *** [scripts_basic] Error 2
</code></pre></p>
<p>3.配置编译器<code>arm-linux-gcc</code>路径，否则会提示<code>/bin/sh: 1: arm-linux-gcc: not found</code><br />
修改配置文件<code>.config</code>第36行：<br />
<pre><code>CONFIG_CROSS_COMPILE=&quot;arm-linux-&quot;
</code></pre></p>
<p>为自已工具链所在的文件路径，如将其放到<code>opt</code>路径下<br />
<pre><code>CONFIG_CROSS_COMPILE=&quot;/opt/FriendlyARM/toolschain/4.5.1/bin/arm-linux-&quot;
</code></pre></p>
<p>4.编译内核，waiting for a while&hellip;<br />
<pre><code># 如果是多核的话，4核
make -j4
</code></pre></p>
<p>显示如下日志表示成功<br />
<pre><code>......
 OBJCOPY arch/arm/boot/zImage
  Kernel: arch/arm/boot/zImage is ready
➜  linux-3.5
</code></pre></p>
<p>5.到<code>linux-3.5/arch/arm/boot</code>路径下复制出内核文件<code>zImage</code>，放到<code>image</code>的<code>Disk-B/images/Android4.2.2</code>路径下，然后将<code>image</code>下<code>FriendlyARM.ini</code>配置文件中的 Android 4.2.2 选项全部打开，其他全部注释掉即可，如下所示。然后就可以愉快的去刷机了。<br />
<pre><code>################### Android 4.2.2 ####################
#This line cannot be removed. by FriendlyARM(www.arm9.net)

CheckOneButton=No
Action = Install
OS = Android

LowFormat = Yes
VerifyNandWrite = No

LCD-Mode = No
CheckCRC32=No

StatusType = Beeper | LED

################### Android 5 ####################
# Android-BootLoader = Superboot4412.bin
# Android-Kernel = Android/zImage
# Android-CommandLine = console=ttySAC0,115200n8 androidboot.console=ttySAC0 ctp=2 skipcali=y vmalloc=384m ethmac=1C:6F:65:34:51:7E androidboot.selinux=permissive
# Android-RamDisk =Android/ramdisk-u.img
# Android-RootFs-InstallImage = Android/system.img
# Android-UserData-4G = Android/userdata-4g.img
# Android-UserData-8G = Android/userdata-8g.img
# Android-UserData-16G = Android/userdata-16g.img
# Android-UserData = Android/userdata.img

################### UbuntuCore ####################
# Ubuntu-BootLoader = Superboot4412.bin
# Ubuntu-Kernel = UbuntuCore/zImage
# Ubuntu-CommandLine = root=/dev/mmcblk0p1 rootfstype=ext4 console=ttySAC0,115200n8 bootdev=EMMC ethmac=FC:09:D1:00:00:04
# Ubuntu-RamDisk = UbuntuCore/ramdisk-u.img
# Ubuntu-RootFs-InstallImage = UbuntuCore/rootfs_ubuntucore.img

################### Android 4.1.2 ####################
# Android-BootLoader = Superboot4412.bin
# Android-Kernel = Android4.1.2/zImage
# Android-CommandLine = console=ttySAC0,115200n8 androidboot.console=ttySAC0 ctp=2 skipcali=y vmalloc=384m ethmac=1C:6F:65:34:51:7E
# Android-RamDisk =Android4.1.2/ramdisk-u.img
# Android-RootFs-InstallImage = Android4.1.2/system.img
# Android-UserData-4G = Android4.1.2/userdata-4g.img
# Android-UserData-8G = Android4.1.2/userdata-8g.img
# Android-UserData-16G = Android4.1.2/userdata-16g.img
# Android-UserData = Android4.1.2/userdata.img

################### Android 4.2.2 ####################
Android-BootLoader = Superboot4412.bin
Android-Kernel = Android4.2.2/zImage
Android-CommandLine = console=ttySAC0,115200n8 androidboot.console=ttySAC0 ctp=2 skipcali=y vmalloc=384m ethmac=1C:6F:65:34:51:7E
Android-RamDisk =Android4.2.2/ramdisk-u.img
Android-RootFs-InstallImage = Android4.2.2/system.img
Android-UserData-4G = Android4.2.2/userdata-4g.img
Android-UserData-8G = Android4.2.2/userdata-8g.img
Android-UserData-16G = Android4.2.2/userdata-16g.img
Android-UserData = Android4.2.2/userdata.img

################### Linux ####################
# Linux-BootLoader = Superboot4412.bin
# Linux-Kernel = Linux/zImage
# Linux-CommandLine = root=/dev/mmcblk0p1 rootfstype=ext4 console=ttySAC0,115200 init=/linuxrc ctp=2 skipcali=y ethmac=1C:6F:65:34:51:7E
# Linux-RamDisk = Linux/ramdisk-u.img
# Linux-RootFs-InstallImage = Linux/rootfs_qtopia_qt4.img
</code></pre></p>
<h2 id="_2"><a name="user-content-_2" href="#_2" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>编译驱动</h2>
<p>刷完了机就可以写hello world驱动了。</p>
<p>1.新建Makefile文件</p>
<pre><code># 编译完的内核路径
KERNELDIR = ~/workplace/work/linux-3.5

# 交叉工具链路径
PWD := $(shell pwd)
CROSS_COMPILE = /opt/FriendlyARM/toolschain/4.5.1/bin/arm-linux-
CC    = $(CROSS_COMPILE)gcc

# 目标文件
gf-objs := hello.o
obj-m := hello.o

modules:
    $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
clean:
    rm -rf *.o *~ core .depend .*.cmd *.ko *.mod.c .tmp_versions
.PHONY: modules clean

</code></pre>

<p>2.新建<code>hello.c</code><sup id="fnref:1"><a class="footnote-ref" href="#fn:1" rel="footnote">1</a></sup>，并<code>make</code></p>
<pre><code class="c">#include &lt;linux/init.h&gt;
#include &lt;linux/module.h&gt;
#include &lt;linux/kernel.h&gt;

MODULE_LICENSE(&quot;Dual BSD/GPL&quot;);

static int hello_init(void) {
  printk(&quot;&lt;1&gt; Hello world!\n&quot;);
  return 0;
}

static void hello_exit(void) {
  printk(&quot;&lt;1&gt; Bye, cruel world\n&quot;);
}

module_init(hello_init);
module_exit(hello_exit);
</code></pre>

<p>3.将驱动下发到开发板</p>
<pre><code># 让开发板可以写入数据，否则，，，
➜  dirver  adb remount
remount succeeded
➜  dirver
➜  dirver
# 将驱动下发到开发板的任何目录
➜  dirver  adb push hello.ko /system
</code></pre>

<p>否则会遇到如下无法写入的情况：<br />
<pre><code>➜  dirver  adb push hello.ko /system
failed to copy 'hello.ko' to '/system/hello.ko': Read-only file system
</code></pre></p>
<p>进入adb shell，并insmod hello.ko<br />
<pre><code># 进入adb shell环境
➜  adb shell
root@android:/
# 进入驱动所在目录
root@android:/ # cd system/
# 加载hello驱动
root@android:/system # insmod hello.ko
# 显示内核打印信息
root@android:/system # dmesg
&lt;1&gt;[ 4785.065000]  Hello world!
# 列出当前加载的驱动
root@android:/system # lsmod
hello 801 0 - Live 0x00000000 (O)
# 卸载hello驱动
root@android:/system # rmmod hello
# 打印卸载驱动时的log
root@android:/system # dmesg
&lt;1&gt;[ 4785.065000]  Hello world!
&lt;1&gt;[ 4967.540000]  Bye, cruel world

</code></pre></p>
<p>注：需要安装 adb工具，如下所述。</p>
<h2 id="adb"><a name="user-content-adb" href="#adb" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>ADB 使用</h2>
<p>在从主机将驱动下发到开发板的时候，用了adb工具，其安装和主要使用如下。</p>
<p>1.安装<br />
<pre><code>➜  sudo add-apt-repository ppa:nilarimogard/webupd8
➜  sudo apt-get update
➜  sudo apt-get install android-tools-adb android-tools-fastboot
</code></pre></p>
<p>确认下 <code>adb</code> 版本<br />
<pre><code>➜  adb version
Android Debug Bridge version 1.0.31
</code></pre></p>
<p>2.使用<br />
<pre><code># adb 设备
adb devices
# 关闭adb服务
adb kill-server
# 开启adb服务
adb start-server
# 重启开发板
adb reboot
# 开发板可写入
adb remount
# 进入shell幻镜
adb shell
# 下发到开发
adb push
# 上载到主机端
adb pull
# 查看驱动信息
adb shell cat /proc/kmsg
# 查看上层信息
adb logcat -v time

</code></pre></p>
<p>如果需要刷新内核，则需要fastboot<br />
<pre><code># 进入fastboot模式
adb reboot bootloader
# 下发内核
fastboot flash boot &lt;boot name&gt;
# 重启内核
fastboot reboot
</code></pre></p>
<p>当然，如果支持Wifi，可以在开发板上下载一个<code>ADB Konnect</code>的APK，通过无线来adb是比较安逸的。<br />
<img alt="" src="http://mint-blog.qiniudn.com/ld-env-adb-konnect.jpg" /></p>
<p>注：需要对手机进行Root。</p>
<pre><code>➜  adb connect &lt;ip&gt;
➜  adb shell
</code></pre>

<p>如果遇到 adb <code>error: insufficient permissions for device</code>错误如下，则需要将当前手机的vendor id手动过添加到规则表中，步骤如下：</p>
<p>a.连接手机，并 <code>lsusb</code> 来查看 待添加手机的vendor id。</p>
<p><img alt="" src="http://mint-blog.qiniudn.com/ld-env-lsusb.png" /></p>
<p>b.将手机添加到规则表</p>
<pre><code class="shell">➜  sudo vi /etc/udev/rules.d/XXX
</code></pre>

<p><img alt="" src="http://mint-blog.qiniudn.com/ld-env-idvendor-idproduct.jpg" /></p>
<p><strong>注</strong>：XXX可能是<code>70-persistent-net.rules</code>，也可能是<code>51-android.rules</code>，一般包含以下前缀。</p>
<pre><code># This file was automatically generated by the /lib/udev/rite_net_rules
# program, run by the persistent-net-generator.rules rules file.
#
# You can modify it, as long as you keep each rule on a single
# line, and change only the value of the NAME= key.

# PCI device 0x8086:0x15a2 (e1000e)
SUBSYSTEM==&quot;net&quot;, ACTION==&quot;add&quot;, DRIVERS==&quot;?*&quot;, ATTR{address}==&quot;34:e6:d7:52:42:66&quot;, ATTR{dev_id}==&quot;0x0&quot;, ATTR{type}==&quot;1&quot;, KERNEL==&quot;eth*&quot;, NAME=&quot;eth0&quot;

 # PCI device 0x8086:0x095a (iwlwifi)
 SUBSYSTEM==&quot;net&quot;, ACTION==&quot;add&quot;, DRIVERS==&quot;?*&quot;, ATTR{address}==&quot;34:02:86:19:73:b4&quot;, ATTR{dev_id}==&quot;0x0&quot;, ATTR{type}==&quot;1&quot;, KERNEL==&quot;wlan*&quot;, NAME=&quot;wlan0&quot;
</code></pre>

<p>c.保存并重启 adb 服务</p>
<pre><code class="shell">➜  chmod 777 /etc/udev/rules.d/XXX
➜  adb kill-server
➜  adb start-server
➜  adb devices
</code></pre>

<h2 id="log"><a name="user-content-log" href="#log" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>log 信息过滤</h2>
<p>由于 adb 输出的 log 信息 非常多，需要将其过滤，只输出或者高亮我们需要的关键字。</p>
<p>其实，字符处理向来是 Linux 工具的强项，只不过都是 CLI 的，需要有一定的学习成本<br />
。如 <a href="https://en.wikipedia.org/wiki/Grep">grep</a>， <a href="https://en.wikipedia.org/wiki/AWK">awk</a> 或者<a href="http://nojhan.github.io/colout/">colout</a>。</p>
<h3 id="colout"><a name="user-content-colout" href="#colout" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>colout</h3>
<blockquote>
<p>colout is a simple command to add colors to a text stream in your terminal.</p>
</blockquote>
<p>在 Windows 下用过 <a href="http://www.powercmd.com/">PowerCMD</a> 的都知道它有一个很简单粗暴的功能：<strong>高亮关键字</strong>。当然，多标签，分栏，可选复制文字，保存log文件和显示行号等等都是蛮不错的<a href="http://www.powercmd.com/features.php">功能</a>，比自带的CMD强多了。</p>
<p><img alt="" src="http://mint-blog.qiniudn.com/ld-env-FeatureHighlight.jpg" /></p>
<p>a.其实使用 colout 单个关键字非常简单，比如将驱动信息中包含 <code>foo</code> 关键字高亮为红色。</p>
<pre><code>➜  adb shell cat /proc/kmsg | colout &quot;foo&quot; red
</code></pre>

<p>b. 比如高亮包含并加粗关键字 <code>foo</code> 的所在行为红色。<br />
<pre><code>➜  adb shell cat /proc/kmsg | colout &quot;^.*foo.*$&quot; red bold
</code></pre></p>
<p>c.再比如高亮多个关键字为不同的颜色</p>
<p>多关键字高亮可以参考本人在其 <a href="https://github.com/nojhan/colout/issues/77">Issue 77</a> 上的提问答案：</p>
<p>可以使用 <code>|</code> 来连接</p>
<pre><code>➜  adb shell cat /proc/kmsg | colout &quot;foo&quot; red | colout &quot;bar&quot; yellow
</code></pre>

<p>也可以使用更高效率的正则表达式方式</p>
<pre><code>➜  adb shell cat /proc/kmsg  | colout &quot;(foo).*(bar)&quot; red,yellow
</code></pre>

<p>以上简单的使用可以应付绝大多数场合，如果想让 log 显示的更加酷炫，查询 <code>colout -h</code>来查看其他命令，也可以参考<a href="http://nojhan.github.io/colout/">官方的使用指南</a>。</p>
<h3 id="grep"><a name="user-content-grep" href="#grep" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>grep</h3>
<h3 id="awk"><a name="user-content-awk" href="#awk" class="headeranchor-link" aria-hidden="true"><span class="headeranchor"></span></a>awk</h3>
<p>好了，整个驱动开发的环境搭建完成，可以开启驱动学习之路了。</p>
<div class="footnote">
<hr />
<ol>
<li id="fn:1">
<p><a href="http://www.freesoftwaremagazine.com/articles/drivers_linux">Writing device drivers in Linux: A brief tutorial</a>&#160;<a class="footnote-backref" href="#fnref:1" rev="footnote" title="Jump back to footnote 1 in the text">&#8617;</a></p>
</li>
</ol>
</div></article></body></html>
